拖车与挂车自主交会系统研发

Development of a System for a Fully Automated Approach between a Tractor and a Trailer

将ToF相机应用于拖车与挂车的自主交会系统,将自主交会过程分为两个阶段,分别为各阶段设计合理的路径规划和路径跟踪算法。系统仿真环境由Gazebo提供,算法则通过机器人操作系统ROS实现。仿真结果表明所设计的路径规划和路径跟踪方法以及交互系统的中央控制单元工作良好。

In this paper, a ToF camera is applied to help to realize a fully automated approach between a tractor and a trailer. According to the features of the camera, the approach is divided into two stages. Path planning and path tracking methods are studied for each stage. The SCS/CCS method and the CSCS method are applied for path planning, both of which are based on straight lines and arcs. The Follow - the - Carrot method is introduced into path tracking control. To make the path tracking as precise as possible, lateral regulation is supported with speed regulation. The software Gazebo provides a simulation environment. The applicable process of path planning and path tracking are implemented via ROS （Robot Operating System）. The simulation shows that, the processes of path planning, path tracking and the central sequential control, which are developed and designed in this paper, function good on the approach system.